JP4718360B2 - Rolling control device for paddy field machine - Google Patents

Description

  The present invention relates to a rolling control device used for paddy field work machines such as rice transplanters and paddy direct sowing machines.

As the rolling control device used for the paddy field work machine, the paddy field work device is connected to be freely movable up and down and the drive rolling freely, and the drive mechanism for rolling is controlled based on the tilt angle detection information of the paddy field work device, A structure in which the horizontal inclination angle of the paddy field work apparatus is stably maintained at the target inclination angle is known (see, for example, Patent Document 1).
JP 10-146111 A

  In the conventional rolling control device described above, the angle sensor and the angular velocity sensor installed in the paddy field working device detect the angle and the angular velocity in the left-right direction, and the fuzzy control is executed based on the detection information of these sensors to tilt the paddy field working device. Although the posture is stabilized, the angle sensor and the angular velocity sensor are mounted on a support column that stands upright from the transmission case. There are things to do.

  The present invention has been made paying attention to such a point, and by rational sensor installation, the posture of the paddy field work device in the left-right direction can be stably maintained with excellent responsiveness and high accuracy. It aims at providing a rolling control device.

In the first invention, a paddy field work device is connected to a traveling machine body so that the paddy field work device can be driven up and down and driven and rolled freely, and the rolling drive mechanism is controlled based on the tilt angle detection information in the left and right directions of the paddy field work device. A rolling control device for a paddy field machine configured to bring the device closer to a target inclination angle,
In order to equip the paddy field work device with an angle sensor for detecting the tilt angle in the left-right direction and an angular velocity sensor for detecting the tilt angle speed in the left-right direction, for the work derived from the traveling machine body in the vicinity of the rolling fulcrum in the paddy field work device. A transmission case for transmitting power is provided, and the angular velocity sensor is mounted and supported on the transmission case .
A bracket for attaching the angle sensor and the angular velocity sensor to the transmission case, a bottom plate portion, a front plate portion in a vertical orientation in which the plate thickness direction is in the longitudinal direction of the body, and a vertical direction in which the plate thickness direction is in the horizontal direction With a side plate of posture,
The angular velocity sensor is connected and fixed to the front plate portion of the bracket in a state of being directly above the rolling fulcrum as viewed in the longitudinal direction of the traveling body, and the side plate of the bracket is adjacent to the angular velocity sensor. The angle sensor is connected and fixed in a state of being located in the position .

According to the above configuration, for example, the detected inclination angle at an angle sensor, the inclination angle obtained by the detection signal from the angular velocity sensor and integration processing is addition processing, the calculated value is the detected inclination angle . The detected inclination angle calculated in this way is compared with a preset target inclination angle, and if the deviation between the two is larger than the preset dead zone, rolling drive is performed in a direction in which the deviation falls within the dead zone. By controlling the operation of the mechanism, the paddy field work device is stably maintained at the target inclination angle.

  In this case, the angular velocity sensor performs detection without delay, but because of its high responsiveness, it will be sensitive to disturbances such as vibration, and measures to remove unnecessary signals by filtering the detection signal are necessary. It becomes. Here, in the present invention, the angular velocity sensor is mounted and supported on a transmission case that is highly rigid and difficult to vibrate, so that it can be sensed without erroneous detection, and highly accurate angle detection can be performed without requiring filtering. Become.

  Therefore, according to the first invention, rolling control based on excellent responsiveness and highly accurate angle detection is executed, and the paddy field work device can be stably maintained at the target inclination angle. The seeding depth can be made uniform.

In addition, according to the above configuration, by attaching the bracket on which the angular velocity sensor is mounted in advance to the transmission case while making fine adjustments, it becomes easy to finely adjust the positioning of the angular velocity sensor without directly operating the angular velocity sensor, and the angular velocity with high accuracy. A sensor can be attached to fully perform the intended function.

Furthermore, according to the above configuration, since the angle sensor and the angular velocity sensor can be attached to the bracket in advance and then attached to the transmission case, it is easy to assemble the sensor in a narrow place where many structures are arranged close to each other. It becomes.

  FIG. 1 shows a riding type rice transplanter with a fertilizer device as an example of a paddy field working machine according to the present invention. This riding type rice transplanter has an engine 8 mounted on the front part of the machine body and is planted on the rear part of the traveling machine body 1 configured to be able to run by four-wheel drive via a link mechanism 2 having a parallel quadruple link structure. The specification seedling planting device (paddy field working device) 3 is connected so as to be movable up and down, and is equipped with a fertilizer device 4 at the rear of the machine body and a reserve seedling platform 5 on the left and right of the machine body, The seedling planting device 3 can be controlled to move up and down by swinging the link mechanism 2 up and down by a hydraulic cylinder 6. The seedling planting device 3 is connected to the lower rear end portion of the link mechanism 2 in a swingable manner around a rolling fulcrum P that extends in the front-rear direction, and the seedling is planted by a rolling drive mechanism 7 provided at the upper rear end portion of the link mechanism 2. The planting device 3 is subjected to rolling control.

  As shown in FIG. 2, the seedling planting device 3 includes a support frame 11 having a horizontally-oriented rectangular tube shape, a transmission case 12 that receives working power extracted from the traveling machine body 1, and a seedling that is reciprocally moved to the left and right with a constant stroke. A table 13, a rotary planting mechanism 14, four planting cases 15 provided in parallel with the support frame 11 with two planting mechanisms 14 on the left and right of the rear, and the planting location of the rice field on a level ground 5 leveling floats 16, etc. are provided. Although the detailed structure is omitted, the central one of the grouping ground floats 16 arranged in parallel is used as a grounding sensor SF for detecting the height of the seedling planting device 3 with respect to the paddy field. The vertical swing displacement is electrically detected, and the hydraulic cylinder 6 is controlled based on the detected information, thereby automatically maintaining the planting depth stably while maintaining the height of the seedling planting device 3 to be constant. Planting depth control is executed.

  As shown in FIGS. 3 and 4, the rolling drive mechanism 7 includes a drive arm 21 that can swing left and right around a fulcrum Q in the front-rear direction on a bracket 20 connected to the upper rear end of the link mechanism 2, and a gear reduction mechanism 19. And an electric motor 22 which is driven to swing through the motor. A horizontal frame 24 is bridge-connected across a pair of left and right support columns 23 erected from the support frame 11, and support frames 25 that are horizontally fixed to the back of the seedling base 13 are provided at a plurality of left and right positions of the horizontal frame 24. The guide member 26 is engaged and supported so as to be laterally movable. The left and right portions of the horizontal frame 24 and the free end of the drive arm 21 are connected via a buffer spring 27, so that the seedling planting device 3 can be freely rolled in a predetermined small range with elastic accommodation with respect to the drive arm 21. It is supported. Therefore, in the state where the seedling planting device 3 is in contact with the ground via the leveling float 16, even if the traveling machine body 1 is inclined slightly to the left or right, the seedling planting device 3 rolls following the ground contact with the field surface and is maintained parallel to the field surface. The

  The electric motor 22 of the rolling drive mechanism 7 is controlled to operate based on detection information from an inclination angle detecting means (described later) provided in the seedling planting device 3, and the traveling machine body 1 is tilted to the left and right by unevenness of the tillage board. Even if the seedling planting device 3 is about to tilt, the seedling planting device 3 is controlled to roll in a direction to restore the tilt, and is always stably maintained at the target tilt angle (θ0) (generally horizontal). Planting with little difference in planting depth at the site has been performed.

  Further, a rolling return spring 28 is stretched between the bracket 20 connected to the upper rear end of the link mechanism 2 and the left and right portions of the support frame 25 on the back surface of the seedling base 13. The rolling return spring 28 on the moving direction side is extended by the reciprocating lateral movement, so that the rotational force in the direction to correct the weight balance collapse around the rolling fulcrum P due to the lateral movement of the seedling bed 13 is increased. Has come to be brought by.

  The inclination angle detecting means includes a gravitational angle sensor 30 that detects an inclination angle in the left-right direction of the seedling planting device 3 and a vibration gyro-type angular velocity sensor 31 that detects an angular velocity in the left-right direction in the seedling planting device 3. The detected inclination angle θ for rolling control of the seedling planting device 3 based on the detection signals from both sensors 30 and 31 is calculated as follows, and its calculation and rolling control are performed. A block diagram to do is shown in FIG.

  The tilt angle (θ1) detected by the angle sensor 30 and the tilt angle (θ2) obtained by integrating the detection signal (dθj / dt) from the angular velocity sensor 31 are added, and this calculated value is calculated. The detected inclination angle (θ) is used.

  The detected inclination angle (θ) calculated as described above is compared with the target inclination angle (θ0) set by the inclination angle setting unit 32, and the deviation (| θ0−θ |) between the two is set in advance. If it is larger than the dead zone (ε), the energization of the electric motor 22 is controlled so that the deviation falls within the dead zone, so that the seedling planting device 3 is stably maintained at the target inclination angle (θ0).

  In the rice transplanter, since most of the planted rice fields are horizontal, by setting the target inclination angle (θ0) to be horizontal, the seedling planting device 3 is maintained in a horizontal posture parallel to the rice field, The planting depth of the paddy field can be made uniform, but in the paddy field planting operation in a paddy field where the field surface is tilted to the left and right at the bank side, the target tilt angle ( By adjusting θ0) according to the slope of the paddy surface, planting parallel to the tilted paddy surface can be performed to make the planting depth uniform.

  The angular velocity sensor 31 accumulates errors over time and has a temperature drift in which the output changes under the influence of temperature. Therefore, in order to perform highly accurate detection, the zero value is rewritten in a timely manner. There is a need. Since the right and left inclination of the seedling planting device 3 is returned to the horizontal while traveling a long distance, a value obtained by averaging the detection signals acquired from the angular velocity sensor 31 during this time is regarded as a horizontal reference output value, that is, a zero value. For example, every time the traveling machine body 1 is turned around at the edge of a round-trip planting operation, it is accumulated by sequentially rewriting the zero value obtained by averaging during the planting traveling of one stroke. It is possible to accurately detect angular velocities with suppressed effects of errors and temperature drift.

  6 and 7 show the mounting structure of the tilt angle detecting means. A bracket 33 for sensor attachment is connected and fixed to the upper surface of the transmission case 12, and the angular velocity sensor 31 and the angle sensor 30 are attached to the bracket 33. The bracket 33 is configured to have a high rigidity in which a steel plate is refracted in a box shape opened rearward, and a bottom plate portion 33 a is firmly fixed to the upper surface of the transmission case 12 by a pair of bolts 34. The angular velocity sensor 31 is connected and fixed to the back surface of the front plate portion 33 b of the bracket 33 by two bolts 35, and the angle sensor 30 is fixed to the outside of one side plate 33 c of the bracket 33 by a positioning pin 36 and one bolt 37. It is connected and fixed in a predetermined posture. The mounting hole formed in the bottom plate portion 33a of the bracket 33 is slightly larger than the bolt diameter, and the mounting posture of the bracket 33 can be finely adjusted so that the sensitive axis of the angular velocity sensor 31 can be mounted correctly in the longitudinal direction of the body.

  [Other Examples]

( 1 ) As the paddy field work device 3 connected to the traveling machine body 2 so as to be movable up and down and rolling freely, a paddy field direct seeding device, a paddy field weeding device, and the like can be cited in addition to a seedling planting device.

Whole side view of rice transplanter Side view of seedling planting device Rear view of seedling planting device Vertical side view of rolling drive mechanism Block diagram of rolling control system Rear view showing tilt angle detection means mounting structure Exploded perspective view of the tilt angle detecting unit mounting structure

1 traveling machine 3 paddy field working device (seedling planting device)
7 Rolling drive mechanism 11 Support frame 12 Transmission case 30 Angle sensor 31 Angular velocity sensor 33 Bracket
33a bottom part
33b front plate
33c Side plate P Rolling fulcrum

Claims (1)

The paddy field work device is connected to the traveling machine body so that it can be driven up and down and rolled freely, and the rolling drive mechanism is controlled based on the tilt angle detection information in the left and right direction of the paddy field work device, so that the paddy field work device is set to the target tilt angle. A rolling control device for paddy field machine configured to approach,
In order to equip the paddy field work device with an angle sensor for detecting the tilt angle in the left-right direction and an angular velocity sensor for detecting the tilt angle speed in the left-right direction, for the work derived from the traveling machine body in the vicinity of the rolling fulcrum in the paddy field work device. A transmission case for transmitting power is provided, and the angular velocity sensor is mounted and supported on the transmission case .
A bracket for attaching the angle sensor and the angular velocity sensor to the transmission case, a bottom plate portion, a front plate portion in a vertical orientation in which the plate thickness direction is in the longitudinal direction of the body, and a vertical direction in which the plate thickness direction is in the horizontal direction With a side plate of posture,
The angular velocity sensor is connected and fixed to the front plate portion of the bracket in a state of being directly above the rolling fulcrum as viewed in the longitudinal direction of the traveling body, and the side plate of the bracket is adjacent to the angular velocity sensor. A rolling control device for a paddy field work machine in which the angle sensor is connected and fixed in a state of being located at the position .

Images